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Vorticity Transport Equation in Incompressible Flows

( Rate change of Vorticity)

Vorticity
r r
ξ = ∇×v

Spin tensor, the rigid body rotation of fluid element

r ∂v 1 ⎛ ∂v ∂v ⎞ 1 ⎛ ∂v ∂v ⎞
∇v = i = ⎜ i + j ⎟ + ⎜ i − j ⎟ = ε ij + Ω ij
∂x j 2 ⎜⎝ ∂x j ∂xi ⎟⎠ 2 ⎜⎝ ∂x j ∂xi ⎟⎠

Angular velocity
r 1 r 1 r
ω = ∇×v = ξ
2 2
ξ i = 2ωi = ⎛⎜⎜ ∂vk −
∂v j ⎞
⎟, (i, j , k = 1,2,3) in Cartetian Coordinates

⎝ j∂ x ∂x k ⎠

ξ1 = 2ω1 = ⎛⎜⎜ ∂v3 − ∂v 2 ⎞⎟⎟ = 2Ω 32


⎝ ∂x 2 ∂x3 ⎠

Conservation of mass in incompressible flows

r Dρ
∇⋅v = − /ρ =0
Dt

Conservation of momentum in incompressible flow

r r
⎛ ∂v r r ⎞ 2r
ρ ⎜ + v ⋅ ∇v ⎟ = −∇p + μ∇ v + ρf
⎝ ∂t ⎠
r
⎛ ∂v ⎛ v2 ⎞ r r⎞ 2r
r
ρ ⎜ + ∇ ⎜ ⎟ − v × ∇ × v ⎟ = −∇p + μ∇ v + ρf
and ⎜ ⎜2⎟ ⎟
⎝ ∂t ⎝ ⎠ ⎠

, ∇ × Momentum equation
Then
r
⎛ ∂ζ r r⎞ r r
ρ ⎜⎜ − ∇ × v × ξ ⎟⎟ = + μ∇ 2ξ + ρ∇ × f
⎝ ∂t ⎠
∇ × ∇p = 0
r
∇⋅∇×v = 0
r r r r r r r r r r
∇ × (v × A) = v (∇ ⋅ A) + ( A ⋅ ∇)v − A(∇ ⋅ v ) − (v ⋅ ∇) A

r r r
and ξ = ∇ × v, ∇ ⋅ v = 0
Then , the vorticity transport equation becomes
r
∂ζ r r r r r
+ v ⋅ ∇ξ = ξ ⋅ ∇v + ν∇ ξ whereν = μ / ρ
2

∂t

convection
diffusion
local time
stretching
r
Dζ r r r
= ξ ⋅ ∇v + ν∇ ξ
2

Dt
r
Dζ r r
= ξ ⋅ ∇v Invscid flow
Dt
r
Dζ r
= ν∇ 2ξ 2 dimensional flow
Dt
r

= 0 2 dimensional ,inviscid flow
Dt
Vorticity Transport Equation in Compressible Flows

Conservation of momentum in inviscid compressible flow

r
Dv ∇p r
=− =a
Dt ρ

, ∇ × Momentum equation
r
∂ξ r r r
Then − ∇ × v × ξ = ∇ × a
∂t
r
Dξ r r r r r
− ξ ⋅ ∇v + ξ (∇ ⋅ v ) = ∇ × a
Dt
r
∇ × ∇C = 0, ∇ ⋅ ∇ × v = 0
r r r r r r r r r r
∇ × (v × A) = v (∇ ⋅ A) + ( A ⋅ ∇)v − A(∇ ⋅ v ) − (v ⋅ ∇) A
r r
and ξ = ∇×v
r r r
D ξ ⎛ ⎞ 1 Dξ r D 1 ⎛
1 Dξ r D 1 ⎞
⎜ ⎟= + ξ ( ) = ⎜ + ρξ ( )⎟
Dt ⎜⎝ ρ ⎟⎠ ρ Dt Dt ρ ρ ⎜⎝ Dt Dt ρ ⎟⎠

Conservation of mass in compressible flows

1 Dρ r
− = ∇⋅v
ρ Dt
r
ξ Dρ r r r D ⎛1⎞
− = ξ ∇ ⋅ v = −ξ ρ ⎜ ⎟
ρ Dt Dt ⎜⎝ ρ ⎟⎠

Then , the Vorticity Transport Equation becomes


r r r r
D ξ ⎛ ⎞ ξ r ∇×a ξ r ∇ × T∇s
⎜ ⎟ = ⋅ ∇v + = ⋅ ∇v +
Dt ⎜⎝ ρ ⎟⎠ ρ ρ ρ ρ Crocco’s Theorem
Rate change of Circulation

Stokes’s Theorem

r r r r r r
∫∫ ∇ × v ⋅ ndS = ∫∫ ξ ⋅ ndS = ∫ v ⋅ dl = Γ
s s c

Circulation along a small element


Kelvin’s Theorem
r
DΓ D r r Dv r r D r
Dt Dt ∫c ∫c Dt ∫c ⋅ Dt dl
= v ⋅ dl = ⋅ dl + v
r r
acceleration a velocity dv

DΓ r r ⎛ ∇p r⎞ r
= ∫ a ⋅ dl = ∫ ⎜⎜ − + f ⎟⎟ ⋅ dl = 0
Dt c c
⎝ ρ ⎠

,which states that the time rate of circulation around a closed curve consisting of
the same fluid elements is zero as the circulations in the airfoil and in the wake
of starting vortex system.

r r ⎛ v2 ⎞
∫cv ⋅ dv = ∫cd ⎜⎜⎝ 2 ⎟⎟⎠ = 0
r r r
∫c
f ⋅ dl = ∫ ∇
c
U ⋅ d l = ∫ dU =U c+ − U c− = 0
c

∇p r r
∫−
c ρ
⋅ dl = ∫ ∇ψ ⋅ dl = ∫ dψ =0
c c

for the gravity force and barotropic flow

The gravity force is a conservative force and it is the irrotational force because
r
∇ × f = 0, and U is the gravity potential
r r r
If, ∇ × v = 0, v = ∇Φ and Φ is the velocity potential , then ∇ ⋅ v = ∇ 2Φ.
And the flow becomes irrotational
Bernoulli’s Equation for an inviscid flow

Equation of momentum

r
Dv ∇p r
=− +f
Dt ρ
r
∂v ⎛ v2 ⎞ r r ∇p r
+ ∇⎜⎜ ⎟⎟ − v × ∇ × v = − + f = −∇Ψ + ∇U
∂t ⎝ ⎠
2 ρ

For a steady and barotropic flow, along a stream line

⎛ v2 ⎞ r dp
∇⎜ + Ψ −U ⎟⎟ ⋅ dl = 0, where Ψ = ∫

⎝2 ⎠ ρ

Then,
v2
+ Ψ − U = Cl
2

The spatial variation of Cl across the stream line

r r
∇C l = v × ∇ × v

∂Cl r r r r r
= n ⋅ v × ∇ × v where n is the normal to v , that is normal to the streamline.
∂n
r r r r r r r r
= n × v ⋅ ∇ × v = b ⋅ ξ whereb is the unit vector normal to the v and n plane.

∂Cl r r
= b ⋅ξ
∂n
For an irrotational and barotropic flow,

⎛ ∂Φ v 2 ⎞
∇⎜⎜ + + Ψ −U ⎟⎟ = 0
⎝ ∂t 2 ⎠

Then,

∂Φ v 2
+ + Ψ − U = C (t )
∂t 2

dp a2 2 p
Ψ =∫ = , a = γRT = γ and p ~ ρ γ for an isentropicflow
ρ γ −1 ρ
⎛ ∂p ⎞
dp = ⎜⎜ ⎟⎟ dρ = a 2 dρ , a; speed of sound
⎝ ∂ρ ⎠ s

For an irrotational and incompressible flow,

∂Φ v 2 p dp p
+ + − U = C (t ) where Ψ = ∫ =
∂t 2 ρ∞ ρ ρ∞

For a steady and incompressible flow,

v2 p
+ −U = C
2 ρ∞

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